Pregled bibliografske jedinice broj: 1207971
Precise Motion Control of Autonomous Robots
Precise Motion Control of Autonomous Robots // 30th Mediterranean Conference on Control and Automation (MED’22) / Valavanis, Kimon (ur.).
Atena, 2022. str. 152-158 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1207971 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Precise Motion Control of Autonomous Robots
Autori
Novakovic, Branko ; Majetic, Dubravko ; Kasac, Josip ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
30th Mediterranean Conference on Control and Automation (MED’22)
/ Valavanis, Kimon - Atena, 2022, 152-158
Skup
30th Mediterranean Conference on Control and Automation (MED 2022)
Mjesto i datum
Atena, Grčka, 28.06.2022. - 01.07.2022
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Autonomous robot control, micro-nano robot control, precise motion, electromagnetic and gravitational fields.
Sažetak
In the case of the control synthesis of the autonomous robot precise motions in production processes, or autonomous micro/nano robot motions in drug delivery, one have to use a related Hamiltonian. It is assumed that the autonomous robot (or micro/nano robot) motions are in a multipotential field. In order to simplify control process, the concept of the external linearization is used. In that case, the nonlinear control in the closed loop with the nonlinear canonical differential equations of the autonomous robot (or micro/nano robot) motion is resulting in the linear behavior of the whole system. Therefore, the linear control algorithms can be applied. This is the main contribution of the paper. The control process is calculated in the combination of the electromagnetic and gravitational fields. In that case, the autonomous robot (or micro/nano robot) moves towards a target with limited information about the environment. The main point of these algorithms is to minimize the use of the outer perimeter of an obstacle, which also minimizes total path length taken by the autonomous robot (or micro/nano robot).
Izvorni jezik
Engleski
Znanstvena područja
Fizika, Interdisciplinarne biotehničke znanosti
Napomena
Zbornik radova prikazan je po sekcijama i radovima.
Zbog toga nema brojevima označenih stranica.
POVEZANOST RADA